Robotic container handling device and method

ABSTRACT

A system and method for handling shipping containers is described. The container handling system includes a crane, the crane having crane load handling devices. The container handling system includes a conveyance device, the conveyance device including transversal load handling devices. The system provides storage and sortation for storing the containers in a series of stacks disposed beneath a grid, the grid having a series of load handling devices operable thereon. The crane load handling device removes a container from a ship, transports it to transversal load handling device operable on a conveyor. The container is moved on the conveyor to a transfer point where it is collected by a robotic load handling device for transport to the storage and sortation area.

The present invention relates to a robotic system device and method forthe handling of shipping containers in ports. More specifically but notexclusively, it relates to how an established technology for orderpicking and sortation of smaller items can be scaled up to create a highdensity, high throughput system for handling shipping containers inports.

This application claims priority from UK Patent Application Nos.GB1506365.4 filed 15 Apr. 2015, GB1514428.0 filed 13 Aug. 2015,GB1518089.6 filed 13 Oct. 2015, GB1602332.7 filed 9 Feb. 2016,GB1518091.2 filed 13 Oct. 2015, GB1518094.6 filed 13 Oct. 2015,GB1518111.8 filed 13 Oct. 2015, GB1518115.9 filed 13 Oct. 2015,GB1518117.5 filed 13 Oct. 2015 and GB1603328.4 filed 25 Feb. 2016 thecontent of all these applications hereby being incorporated byreference.

Some commercial and industrial activities require systems that enablethe storage and retrieval of a large number of different products. Oneknown type of system for the storage and retrieval of items in multipleproduct lines involves arranging storage bins or containers in stacks ontop of one another, the stacks being arranged in rows. The storage binsor containers are accessed from above, removing the need for aisles toallow for movement of the containers between the rows and allowing morecontainers to be stored in a given space.

Shipping containers have revolutionised international trade over thelast decades. As ships have got bigger, the methods for loading andunloading containers have evolved so that a large ship with over tenthousand containers may be loaded in around 24 hours. Even so, therewould be huge benefits if container ships could be unloaded and loadedeven faster. Not only would the costly idle time for the ship bereduced, but the capacity of the port would also be increased if theships could be handled faster. The present invention would potentiallyspeed up the unloading and loading of container ships by a factor of 2or better, compared of the best prior art technology.

In addition, the handling at a container port frequently involvesstoring and sorting the containers to or from other ships, trains orvehicles. This storage and sortation activity requires large amounts ofspace and expensive handling equipment. The present invention would alsospeed up the sortation process and reduce the dock area required forstorage and sortation. This would potentially add to the increasedcapacity of a given port, by a factor 2 or better, compared to the bestprior at technology.

Methods of handling containers stacked in rows are well known. In somesuch systems, for example as described in U.S. Pat. No. 2,701,065Bertel, comprise free-standing stacks of containers arranged in rows inorder to reduce the storage volume associated with storing suchcontainers but yet still providing access to a specific container ifrequired. Access to a given container is made possible by providingrelatively complicated hoisting mechanisms which can be used to stackand remove given containers from stacks. The cost of such systems are,however, impractical in many situations and they have mainly beencommercialised for the storage and handling of large shippingcontainers.

The concept of using freestanding stacks of containers and providing amechanism to retrieve and store specific containers has been developedfurther, for example as described in EP 1037828 B1 (Autostore), thecontents of which are incorporated herein by reference. This describes asystem in which stacks of containers are arranged within a framestructure. A system of this type is illustrated schematically in Figuresx to y of the accompanying drawings. Robotic load handling devices canbe controllably moved around the stack on a system of tracks on theupper most surface of the stack.

One development of load handling device is described in UK PatentPublication No GB2,520,104A1, where each robotic load handler onlycovers one grid space, thus allowing higher density of load handlers andthus higher throughput of a given size system. As described in UK PatentApplication No GB1511137.0, hereby incorporated by reference, containersmay also be of varying heights. As described in UK Patent Application No1509921.1, combining shuttles with the load handlers occupying only asingle grid space, may be beneficial and on a larger scale can also bevery beneficial in the handling of shipping containers.

According to the invention there is provided a robotic containerhandling system comprising two substantially perpendicular sets of railsforming a grid above a workspace, the workspace comprising a pluralityof stacked containers, the handling system further comprising aplurality of robotic load handling devices operating on the grid abovethe workspace, the robotic load handling devices comprising a bodymounted on wheels, a first set of wheels being arranged to engage withat least two rails of the first set of rails, the second set of wheelsbeing arranged to engage with at least two rails of the second set ofrails, the first set of wheels being independently moveable anddriveable with respect to the second set of wheels such that when inmotion only one set of wheels is engaged with the grid at any one timethereby enabling movement of the load handling device along the rails toany point on the grid by driving only the set of wheels engaged with therails, the system further comprising transfer means, conveyance meansand a transfer point, the transfer means comprising a number oftranversal load handling devices adapted so as to receive containersdelivered by a container handling device, the transfer load handlingdevices being moveable along the conveyance means to a transfer pointfor collection by the robotic load handling devices.

The invention will now be described with reference to the accompanyingdiagrammatic drawings in which:

FIG. 1 is a schematic representation of a known form of container portsystem showing a vessel carrying shipping containers docked at a port;

FIG. 2 is a schematic representation of a further known form ofcontainer port system showing an arriving vessel and a departing vesseldocked in port, the arriving vessel having a plurality of containersunloaded therefrom, the departing vessel having a plurality ofcontainers loaded thereto, a portion of the containers being stored insortation and storage areas and moved between locations via vehicles;

FIG. 3 is a schematic representation of a form of container port systemin accordance with one form of the invention, showing a vessel carryingcontainers, the containers being unloaded via crane-mounted loadhandlers and transferred by conveyor means to a storage and sortationarea, the containers being transferred in to and from the storage andsortation area via robotic load handling devices;

FIG. 4 is a schematic representation of a portion of the storage andsortation area of

FIG. 3 showing two robotic load handling devices operative on a gridstructure the containers being stored in stacks;

FIG. 5 is a schematic representation of a form of container port systemin accordance with a further form of the invention showing an arrivingvessel and a departing vessel docked in port, the arriving vessel havinga plurality of containers unloaded therefrom, the departing vesselhaving a plurality of containers loaded thereto, a portion of thecontainers being stored in sortation and storage areas via a containerhandling system in accordance with the invention;

FIG. 6 is a schematic representation of a further form of container portsystem in accordance with the invention in which the capacity of thecrane-mounted load handlers is increased by addition of transversal loadhandling mechanisms;

FIG. 7 is a schematic plan view of a known form of container port systemshowing a vessel carrying shipping containers docked at a port, thecontainers being unloaded from the vessel via crane means and directlyunloaded to container transporting vehicles;

FIG. 8 is a schematic plan view of a container port system in accordancewith a further aspect of the invention in which crane-mounted loadhandlers transfer the containers to conveyance means, the conveyancemeans transferring the containers to a storage and sortation area, thecontainers being transferred to the storage and sortation area viarobotic load handling devices;

FIG. 9 is a schematic view of the container port system of FIG. 8 inaccordance with a further aspect of the invention, in which robotic loadhandling devices transfer containers from the storage and sortation areadirectly to container carrying vehicles;

FIG. 10 is a schematic plan view of a container port system inaccordance with another form of the invention, the robotic load handlingdevices transferring containers from the storage and sortation areadirectly to container carrying trains, a portion of the grid of thestorage and sortation system extending over the container carryingtrains;

FIG. 11 is a schematic view of a further embodiment of the inventionwhere the support structure for the transversal load handlers isseparate from the crane. This is particularly advantageous where thesystem is added to an existing crane installation;

FIG. 12 is a schematic plan view of the arrangement in FIG. 11;

FIG. 13 is a perspective view in more detail of the arrangement of FIGS.11 and 12 in which the support structure for the conveyance means andthe transversal load handlers is a separate structure to any existingcrane installation, the conveyance means and the transversal loadhandling means comprising roller means;

FIG. 14 is a perspective view of a further form of the support structureof FIGS. 11 and 12 in which the conveyance means comprises interfaceplates disposed between the containers to be moved and the drive meansfor moving the containers;

FIG. 15 is a perspective view of a further form of the support structureof FIGS. 11 and 12 in which the conveyance means comprises interfaceblocks disposed between the containers to be moved and the drive meansfor moving the containers, the underside corners of the containers beingaccessible to operatives from the support structure;

FIG. 16a is a perspective view of an alternative form of the containerport system as shown at least in FIGS. 13 to 16, the system beinglocated in situ under a gantry or quay crane, the system comprising ahydraulic lift to raise containers from the level of the port system ofthe invention to the crane load handler, thereby reducing the liftingand lowering that the load handler is required to undertake;

FIG. 16b is a further view of the container port system of FIG. 16a thegantry crane being removed for clarity;

FIG. 17 is a schematic perspective view of a further form of the storageand sortation system detailed above, the system being provided withwalkways between rows of containers to allow operatives access to thecontainers within the storage and sortation system; and

FIG. 18 is a schematic perspective view of a container handling devicein situ on the storage and sortation device, the handling device runningon a double track system forming part of the framework of the storageand shipping system, thereby enabling container handling devices to passeach other in either the X or Y direction whilst operating on thesystem.

FIG. 1 shows one form of known container port. A container ship 10 in abody of water 30 is moored to a dock 20 with a plurality of shippingcontainers 40 disposed thereon. The shipping containers 40 are unloadedusing a crane 100, the crane comprising a crane load handler 110. Thecrane load handler 110 transports the container 40 to a containertransport vehicle 210. The container transport vehicle 210 transportsthe container 40 to its required destination. This may be to a storageand sortation area or may be directly to vehicles for onwardtransportation. In the reverse process, vehicles 210 bring shippingcontainers 40 to be loaded onto the ship 10 to the port, the containers40 being transferred to the ship 10 via the crane 100.

It will be appreciated that this is a simplified version of a containerport. It is often the case that multiple ships 10 are moored at a givenport at any one time. In this case, containers 40 may be unloaded fromone ship and loaded directly on to another ship. Alternatively,containers 40 are unloaded from both vessels and transferred to astorage and sortation area awaiting onward transport. An example of sucha known system is shown in FIG. 2 where vehicles 210 bring unloadedcontainers 40 unloaded from an arriving ship 10 by a gantry or quaycrane 100 to a storage and sortation system 220 for storage and/orsortation. Thereafter vehicles 210′ bring the required containers 40 toa predetermined dispatch ship 10′. During the sortation process,additional vehicles 210″ may be needed to move containers 40 betweengantry cranes 100 for onward loading to appropriate vessels 10. It willbe appreciated that not all containers 40 unloaded from an arriving ship10 need be transferred to the departing ship 10′. Moreover, not all theunloaded containers 40 need be transferred to the storage and sortationarea. It will be noted, as shown in FIG. 2 that the containers 40unloaded from the ship 10 may be handled by numerous handling devicesand may be required to be transferred multiple times. Furthermore, asignificant amount of space is needed to unload, store, sort and loadcontainers 40.

FIG. 3 shows a schematic view of one form of the present invention. Ascan be seen in FIG. 3, in common with existing known container portsystems, the container handling system in accordance with the inventioncomprises a crane 100, the crane 100 comprises a crane load handlingdevice 110. The container handling system further comprises conveyancemeans 130, the conveyance means 130 further comprises transversal loadhandling devices 120.

The container handling system further comprises container storage andsortation means. The storage and sortation means comprises a frameworkof uprights 280 carrying a substantially horizontal grid structure 300on which robotic load handling devices 310 are operative. The containers40 are disposed beneath the grid 300 in stacks 400. The stacks 400 arearranged such that a single stack 400 of containers is located beneath asingle grid spacing in the grid 300 such that the robotic load handlingdevices 310 may raise and lower the containers 40 in to and out of thestacks 400 through the grid spacing.

The robotic load handling devices 310, the stacks 400 of containers 40and the grid structure 300 are shown in more detail in FIG. 4. Theshipping containers 40 are stacked on top of one another to form stacks400. Each container 40 typically holds items (not shown), and the itemswithin a container 40 may be identical, or may be of different typesdepending on the application.

The storage and sortation structure comprises a plurality of uprightmembers 280 that support horizontal members 300 a, 300 b. A first set ofparallel horizontal members 300 a is arranged substantiallyperpendicularly to a second set 300 b of parallel horizontal members toform a plurality of horizontal grid structures 300 supported by theupright members 280. The members 280, 300 a, 300 b, 300 are typicallymanufactured from metal. The containers 40 are stacked between themembers 280 of the frame structure.

The top level of the frame structure includes rails 300 a, 300 barranged in a grid pattern across the top of the stacks 400. The gridstructure 300 supports a plurality of robotic load handling devices 310.A first set of substantially parallel rails guide movement of the loadhandling devices 310 in a first direction (X) across the top of theframe structure, and a second set of substantially parallel rails,arranged substantially perpendicular to the first set, guide movement ofthe robotic load handling devices 310 in a second direction (Y),substantially perpendicular to the first direction. In this way, therails allow movement of the load handling devices 310 in two dimensionsin the X-Y plane, such that a load handling device 310 can be moved intoposition above any of the stacks 400.

Each load handling device 310 comprises a vehicle which is arranged totravel in the X and Y directions on the rails of the frame structure,above the stacks 400. A first set of wheels 314, consisting of a pair ofwheels 314 on the front of the vehicle and a pair of wheels 314 on theback of the vehicle, are arranged to engage with two adjacent rails ofthe first set of rails. Similarly, a second set of wheels 316,consisting of a pair of wheels 316 on each side of the vehicle 310, arearranged to engage with two adjacent rails of the second set of rails.Each set of wheels 314, 316 can be lifted and lowered, so that eitherthe first set of wheels 314 or the second set of wheels 316 is engagedwith the respective set of rails at any one time.

When the first set of wheels 314 is engaged with the first set of railsand the second set of wheels 316 are lifted clear from the rails, thewheels 314 can be driven, by way of a drive mechanism (not shown) housedin the vehicle, to move the load handling device 310 in the X direction.To move the load handling device 310 in the Y direction, the first setof wheels 314 are lifted clear of the rails, and the second set ofwheels 316 are lowered into engagement with the second set of rails. Thedrive mechanism can then be used to drive the second set of wheels 316to achieve movement in the Y direction.

In this way, one or more robotic load handling devices 310 can movearound above the top surface of the stacks 400 on the grid under thecontrol of a central control system (not shown). Each robotic loadhandling device 310 is provided with means for lifting out one or morecontainers 40 from the stack 400. In the instance where multiple roboticload handling devices 310 are used, it will be appreciated that multiplecontainers 40 may be placed in to the storage system or removed from thestorage system at any one time.

FIG. 4 shows a typical storage system as described above, the systemhaving a plurality of load handling devices 310 active above the stacks400 of containers 40.

It will be appreciated that any form of load handling 310 device may bein use and that any number of robotic load handling devices may be used.The storage and sortation system as shown in FIG. 4 is representativeonly. Moreover, the nature and size of shipping containers 40 willrequire a larger facility that that shown in FIG. 4.

In accordance with one form of the invention, the storage and sortationsystem described with reference to FIG. 4 above is used in conjunctionwith a shipping container system at a port as described in more detailbelow.

In use, containers 40 are removed from the ship 10 by crane loadhandlers 110 mounted and operable on gantry cranes 100. The containers40 are loaded onto transversal load handlers 120, the transversal loadhandlers 120 being mounted on a conveyor 130. The transversal loadhandlers 120 transfer the containers 40 to a transfer point 140, wherethe containers 40 are picked up by robotic load handlers 310. Therobotic load handlers 310 which travel on the grid 300, as describedabove with reference to FIG. 4. The robotic load handlers 310 movecontainers 40 into stacks 400, comprising several containers 40 on topof each other.

It will be appreciated that the containers 40 may be placed in thestacks 400 for temporary storage whilst awaiting onward transport.Alternatively, empty containers may be stored within the stacks 400awaiting onward transport or removal for use.

Whilst the foregoing description is a basic description of the system inuse in a shipping container port, it will be appreciated thatcombinations of the handling, storage and sortation aspects of the firstaspect of the invention may be used in alternative configurations.

For example, FIG. 5 shows a shipping container port utilising thestorage and sortation aspects of the embodiment of the inventiondescribed above when applied to the known situation shown in FIG. 2.

In use, containers 40 are removed from the ship 10 by crane loadhandlers 110 mounted and operable on gantry cranes 100. The containers40 are loaded onto transversal load handlers 120, the transversal loadhandlers 120 being mounted on a conveyor 130. The transversal loadhandlers 120 transfer the containers 40 to a transfer point 140, wherethe containers 40 are picked up by robotic load handlers 310. Therobotic load handlers 310 which travel on the grid 300, as describedabove with reference to FIG. 4. The robotic load handlers 310 movecontainers 40 into stacks 400, comprising several containers 40 on topof each other.

However, in the example shown in FIG. 5, the robotic load handlingdevices 310 may transfer any one of the containers unloaded to a secondconveyance means 130′. The container 40 in question may be transferredat a transfer point 105′ to a second crane load handler 110′ on a secondgantry crane 100′. The second crane load handler 110′ transfers thecontainer 40 to the second ship 10′ for dispatch.

It will be appreciated that in comparison to FIG. 2, the storage andsortation of containers 40 within a port or from one ship 10 to another10′ can be made more compact and involve fewer steps.

FIG. 6 shows a further embodiment of the invention. All aspects of thisembodiment common with the previous embodiment retain the same referencenumerals. In this second embodiment of the invention, which is avariation of that described with reference to FIG. 3 above, severaltransversal load handlers 120 travel on conveyance means 130 in a waywhich may further increase the capacity of crane 100. Furthermore,further conveyance means 131 may be provided to allow for furthercontainers 40 to be transferred from ship to storage or vice versa. Itwill be appreciated that provision of this second conveyance means 131enables containers 40 to travel in opposing directions, one container 40from ship to storage and another container from storage to ship. It willalso be appreciated that multiple containers may be transferred in thesame direction at the same time. However, it will be appreciated that asingle conveyance means 130 or 131 that is capable of reversingdirection is sufficient for the operation of the container shippingsystem.

FIG. 7 shows a plan view of a shipping container handling system of aknown form, as described with reference to FIGS. 1 and 2 above. A ship10 in a body of water 30 is moored to a dock 20. A container crane 100comprises a crane load handler 110 capable of moving containers 40 to avehicle 210. The container crane 100 can move along a ship 10 on a track90.

In accordance with a further aspect of the present invention, as shownin FIG. 8, the crane load handler 110 may deposit the container 40 ontoa transversal load handler 120 which positions and aligns the container40 by suitable alignment means such that it can be accessed by a roboticload handler 310. Said alignment means may comprise sensor systems,proximity detectors or camera means being monitored by operatives.

It will be appreciated that the above-described system may be utilisedto load shipping containers 40 directly on to container transportingvehicles or trains or other transport devices. FIG. 9 shows a containercarrying goods train 410 under the grid 300 being loaded with acontainer 40 by a robotic load handler 310. It will be appreciated thatgoods trains arriving at the port may also be unloaded in the reversemanner to that described above.

FIG. 10 shows a plan view showing a train track 400 with a number oftrain carriages 410 thereon. Over the railroad track runs a specialtrack section 420 of the grid 300 where robotic load handlers 310 candeposit containers 40 onto railroad cars 410. In certain crossoverpoints 430 the robotic load handlers 310 can move from the grid 300 tothe special track section 420. In order to load containers 40 ontorailroad cars 410 under the crossover points 430, the train of railroadcars 410 would be shunted somewhat forwards or backwards.

FIGS. 11 and 12 show a variation of the embodiment shown in FIG. 6 witha separate support structure 170 riding on separate rails 190 carryingthe tracks 130 and 131. Again it will be appreciated that only one ofthe conveyance means 130 or 131 for transferring the container 40 fromcrane 100 to the storage system is required but use of both 130 and 131provides a more efficient system.

FIG. 13 is a schematic perspective view in more detail of thearrangement of FIGS. 11 and 12 in which the support structure for theconveyance means 130, 131 and the transversal load handlers 120comprises a separate structure working in conjunction with an existingcrane installation, the conveyance means 130, 131 and the transversalload handling means 120 comprising roller means.

As can be seen in FIG. 13, the containers 40 deposited on the tracks 130and 131 are moved in respective opposite directions by roller means 200.The roller means act to move the containers 40 either to or from thestorage means for onward transfer by suitable means to the ship (notshown). The containers 40 are moved in the respective oppositedirections on tracks 130 and 131 as shown by the directions of thearrows.

The roller means 200 may comprise a series of independently drivenrollers. There need not be a link between individual driven rollers. Theindividual rollers act to move each container on track 130 rightwardlywith respect to the drawing. Once the container 40 reaches the end ofthe track 130, transversal adjusting means 140 enable each container 40to be moved in to a position suitable to be collected and lifted by theload handling means operable on the storage system (not shown in FIG.13). The transversal adjusting means 140 may comprise further rollermeans 201 which may comprise a further series of independently drivenrollers.

It will be appreciated that the same system operates in a leftwardlydirection with reference to the drawing for track 131.

Again there is no requirement for both conveyance means 130 and 131 tobe used, only a single conveyance means 130 or 131 is required. However,use of both conveyance means allows containers 40 to be moved inopposite directions at the same time, thereby improving the efficiencyof the system

Advantageously, the use of independently driven rollers for roller meansenables a system of accumulation to be utilised. The containers 40 onthe conveyance means need not be moved in a one-in one-out sequence, theconveyance means 130, 131 may accumulate containers 40 to enable smoothoperation of the load handling devices and storage system, in otherwords it is not always necessary for a container 40 to exit theconveyance means 130, 131 before a further container 40 may be input bythe gantry crane 100.

It will be appreciated, however, that a linked system may be operated inwhich a continual flow of containers 40 enter and exit the conveyancemeans 130, 131 in a one for one manner.

FIG. 14 is a perspective view of a further form of the support structureof FIGS. 11 and 12 in which the conveyance means 130, 131 comprisesinterface plates disposed between the containers 40 to be moved and thedrive means for moving the containers 40.

In the further embodiment described with reference to FIG. 14, interfaceplates 210 are mounted on the roller means 200, 201. The interfaceplates may be required to act between the containers 40 and the rollermeans 200, 201 as containers 40 may over time become warped and damagedand may not travel on roller means 200, 201 directly. It will beappreciated that the interface plates may take any form suitable andcapable of carrying containers 40 on the roller means 200, 201.

As with the embodiment described with reference to FIG. 13, theconveyance means comprises two tracks, a first track 130 movingcontainers in a rightwardly direction and a second track 131 movingcontainers 40 in a leftwardly direction. It will be appreciated that inthe embodiment described, both tracks comprise interface plates 210however, it may be envisaged that different tracks comprise differentinterface plates and roller means.

The transversal adjusting means in the present embodiment comprisesadditional interface plates 240 and 241 driven by suitable roller meansto enable adjustment of the positioning of the container 40 forcollection by the load handling means (not shown in FIG. 14).

Advantageously, the use of interface plates 210 mounted on independentlydriven rollers or roller means again enables a system of accumulation tobe utilised. The containers 40 on the conveyance means need not be movedin a one-in one-out sequence, the conveyance means may accumulatecontainers 40 to enable smooth operation of the load handling devicesand storage system, in other words it is not always necessary for acontainer 40 to exit the conveyance means 130, 131 before a furthercontainer 40 may be input by the gantry crane 100.

It will be appreciated, however, that a linked system may be operated inwhich a continual flow of containers 40 enter and exit the conveyancemeans 130, 131 in a one for one manner.

The containers 40 may be positioned on the interface plates such thatthe corners of the containers 40 may be accessed by operatives locatedon the conveyance means. This is necessary as containers 40 transportedby ship are stacked and locked together using suitable locking means ateach respective corner (not shown in the Figures). Operatives locatedadjacent the conveyance means 130, 131 may be required to manuallyremove the locking means from the containers 40. Furthermore, containers40 being moved from the storage system to a ship will require lockingmeans to be manually inserted in to suitable brackets forming thecorners of each container 40. This enables the containers 40 to besafely stacked on the receiving vessel. Operatives located adjacent theconveyance means 130, 131 may access the required brackets if interfaceplates are utilised.

A further embodiment is shown in FIG. 15. FIG. 15 is a perspective viewof a further form of the support structure of FIGS. 11 and 12 in whichthe conveyance means comprises interface blocks 310 disposed between thecontainers 40 to be moved and the drive means for moving the containers,the corners of the containers 40 again being accessible to operativesfrom the support structure. FIG. 15 shows a system whereby operativesremoving locking means manually from the containers 40 may load saidlocking means in to receptacles adjacent the conveyance means 130, 131.As containers 40 on the conveyance means 130 are moving, in this exampleonly, rightwardly towards the storage and sortation system, theoperatives will be removing the locking means from the containers 40.Once removed and deposited in the receptacles the locking means may betransferred via suitable lift means 450 to the area adjacent theleftwardly moving conveyance means 131 where operatives may insert thelocking means in to the containers ready for use when the container isloaded on to the vessel 10.

As described above with reference to FIG. 14, in the system describedwith reference to FIG. 15, the containers 40 may again be positioned onthe interface blocks 310 such that the corners of the containers 40 maybe accessed by operatives located on the conveyance means. Operativeslocated on the conveyance means may remove the locking means from thecontainers 40. Furthermore, containers 40 being moved from the storagesystem to a ship that require locking means to be inserted in tocontainer brackets may be handled on the second leftwardly moving track131.

The locking means may comprise twist locks of a form usually associatedwith shipping and container uses. However, other forms of locking meansmay be envisaged.

Advantageously, the use of interface blocks 310 or plates 210 enablestwo relatively smaller containers 40 a, 40 b to be handled adjacent eachother in a single position on the conveyance means as shown in FIG. 15.

In the embodiments described, it will be appreciated that the rollermeans 200, 201 need not comprise independently driven rollers but couldcomprise belt driving means or a chain-type driving means or any othersuitable form of drive means capable of moving containers mountedthereon with interface plates, blocks or otherwise.

In this way, the conveyance means described above is capable ofrecirculating movement of containers 40 to and from transporting vesselswhilst taking advantage of accumulation of containers 40 on theconveyance means and further enabling removal and insertion of lockingmeans to secure the containers 40 in stacks when loaded on to suitablevessels.

FIG. 16a shows an additional form of shipping container handling system.As described above, the gantry crane 100 carries a crane load handler110. In use the crane load handler is moved in to position above acontainer 40 on a vessel and the handler is lowered and the handlerengages with the container 40 to be moved. The crane load handler 110 isthen raised and the container 40 can be moved from the vessel to itspredetermined location. The same transfer can happen in reverse, thecrane load handler 110 engages and picks up the container 40 from apredetermined location and moves in to position above the appropriatepoint on the vessel for depositing the container 40.

It will be appreciated that the crane load handler 110, when used inthis manner must be continually winched up and down to engage anddeposit the target container 40. In one form of the invention as shownin FIGS. 16a and 16b a hydraulic lift 460 is provided adjacent thecontainer 40 transfer system to engage with containers 40 and lift anengaged container 40 to a level closer to the crane load handler. Inthis way, the crane load handler 110 is not required to be winched upand down as frequently. Advantageously, this may make the loading andunloading of containers 40 quicker and more efficient.

Whilst it is envisaged that hydraulics may be required, any form of liftmechanism capable of lifting a loaded container 40 to a level where thecrane load handler 110 may engage the container and move said containeras required, may be used.

FIG. 17 shows a schematic perspective view of the storage and sortationsystem described above in accordance with a further form of theinvention. In the system shown in FIG. 17, in order to enable operativesto access the containers 40 whilst in the storage and sortation system,predetermined rows 500 of the container stacks 400 may be omitted. Thisensures that the containers 40 and their contents may be accessed.

Additionally, some containers 40 may require services to be providedthereto, for example power to enable a chiller unit to run in thecontainer 40 and access may be required to switch supplies or utilitieson and/or off. It will be appreciated that the services may be providedto the containers 40 via connection to the uprights of the storage andsortation system, the framework of the system comprising services routedtherethrough. Suitable connections between the containers 40 and theframework of the system may be provided to enable power, light, air,fluids or gases to be routed through the framework as appropriate. UKPatent Application No GB1518115.9 filed on 13 Oct. 2015, from which thepresent application claims priority from, details a system for routingservices through a framework such as that required for the presentsystem and the content of this priority application is herebyincorporated by reference.

As shown in FIG. 18, the container load handling devices 310 operatingon the grid structure of the storage and sortation system run on adouble track system 300. The double track system allows container loadhandling devices to pass on adjacent grid squares in both the X and Ydirections. Whilst this system provides for a dense packing solution inthe storage and sortation system, it does not allow for the containersto be accessed by operatives as required and described above in relationto FIG. 17.

It will be appreciated that the double tracks shown in FIG. 17 compriselongitudinally extending extruded sections of double track. However, itis possible, in one form of the invention, for the tracks to beseparated in to two separate tracks with a gap of a predetermined sizein between. In this way, the separation in the tracks allows for aseparation between the stacks 400 of containers 40 and therefore enableoperatives to access the containers 40 between the stacks 400.

It will be appreciated that control and tracking of containers 40 in thestorage and sortation area is undertaken under control of a utilitycapable of tracking the position of each container 40 removed from aship 10 and placed in the storage and sortation area.

The location of each individual container 40 is known to the utility,said utility being operable to instruct the robotic load handlingdevices to remove said required container 40 from the storage andsortation area as required.

Should a container 40 from the bottom of a stack 400 be required,several robotic load handling devices 310 may co-operate to removecontainers 40 above the required container 40 in the stack 400.Containers 40 not required may be returned to alternative locationswithin alternative stacks 400. It will be appreciated that thecontainers 40 may be placed in the stacks 400 with a knowledge of theirlikely retrieval time, thereby ensuring the most efficient placementwithin the area via the robotic load handling devices 310.

It will be appreciated that the containers 40 may be provided withpassive identity tracking means, for example barcoding. However anysuitable form of identity tracking means may be used. Furthermore, thecontainers 40 may be provided with active identity tracking means or onboard intelligence enabling absolute tracking of each individualcontainer 40 through the port. Each or any container 40 may be providedwith on board services or intelligence similar to that disclosed in UKPatent Application No . . . . Ref 000036 GB to Ocado Innovation Limitedfiled on 13 Oct. 2015, incorporated by reference as detailed above.

Furthermore, it will be appreciated that the uprights or grid 300 may beprovided with sensor or tracking means in order to monitor the contentsof the grid, the containers 40 or the structural integrity of the systemas a whole. These services may include, but not be limited to camerameans, alignment detection means, structural integrity sensor means suchas ultrasonics means or potential drop means. The grid structure may beprovided with services as disclosed in UK Patent Application No Ref000045 GB to Ocado Innovation Limited filed on 13 Oct. 2015 detailedabove and incorporated by reference.

It will be appreciated that in the embodiments described above, therobotic load handling devices 310 need not be of the form described, anysuitable form of robotic load handling device may be used.

1. A container handling system comprising: two substantially perpendicular sets of rails forming a grid above a workspace, the workspace including a plurality of stacked containers: a plurality of robotic load handling devices operating on the grid above the workspace, the robotic load handling devices including a body mounted on wheels, a first set of wheels being arranged to engage with at least two rails of the first set of rails, a second set of wheels being arranged to engage with at least two rails of the second set of rails, the first set of wheels being independently moveable and driveable with respect to the second set of wheels such that when in motion only one set of wheels is engaged with the grid at any one time thereby enabling movement of a load handling device along the rails to any point on the grid by driving only a set of wheels engaged with the rails: and transfer means, conveyance means and a transfer point, the transfer means including a number of transversal load handling devices configured to receive containers delivered by a container handling device, the transfer load handling devices being moveable along the conveyance means to a transfer point for collection by the robotic load handling devices.
 2. A container handling system according to claim 1, comprising: further conveyance means, transfer means and transfer points for enabling the robotic load handling devices to move multiple containers at a same time.
 3. A container handling system according to claim 1, comprising: control means, the control means comprising a utility for monitoring and tracking the location of the or each container in the system.
 4. A container handling system according to claim 1, in which each container comprises: identity means for enabling location each container in the system.
 5. A container handling system according to claim 1, in which at least one container comprises: service means for controlling and/or monitoring physical properties of the container.
 6. A container handling system according to claim 1, in which the workspace comprises: a framework supporting the grid above the stacks of containers.
 7. A container handling system according to claim 1, in which the framework and grid comprise: service means for controlling and/or monitoring the physical properties of the grid, framework or containers.
 8. A container handling system according to claim 1, comprising: crane means having crane load handling devices, the crane load handling devices including means for connecting with a container and transporting said container to the transfer point and transferring the container to a transversal load handling device.
 9. A container handling system according to claim 1, in which the conveyance means comprises: a conveyor system for transferring containers.
 10. A container handling system according to claim 1, in which each containers comprises: shipping containers.
 11. A container handling system according to claim 1, in which the workspace comprises: a storage and sortation area for a shipping container port.
 12. A container handling system according to claim 11, in which a portion of the grid is configured to extend above a vehicle transfer area, the robotic load handling devices being configured to move containers from the workspace to vehicles located in the vehicle transfer area.
 13. A container handling system according to claim 1, in which the containers are configured for transfer to or from vessels, including container ships.
 14. A method of transferring containers with a container handling system two substantially perpendicular sets of rails forming a grid above a workspace, the workspace including a plurality of stacked containers the method comprising: operating a plurality of robotic load handling devices on the grid above the workspace, the robotic load handling devices including a body mounted on wheels, a first set of wheels being arranged to engage with at least two rails of the first set of rails, a second set of wheels being arranged to engage with at least two rails of the second set of rails, the first set of wheels being independently moveable and driveable with respect to the second set of wheels such that when in motion only one set of wheels is engaged with the grid at any one time thereby enabling movement of a load handling device along the rails to any point on the grid by driving only a set of wheels engaged with the rails: and receiving a container via a transfer means, conveyance means and a transfer point, the transfer means including a number of transversal load handling devices configured to receive containers delivered by a container handling device, the transfer load handling devices being moveable along the conveyance means to the transfer point for collection by the robotic load handling devices. 